EP3436392B1 - Vorrichtung mit einem schwenkbaren arm und einer konfigurierbaren feder - Google Patents

Vorrichtung mit einem schwenkbaren arm und einer konfigurierbaren feder Download PDF

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Publication number
EP3436392B1
EP3436392B1 EP17715659.3A EP17715659A EP3436392B1 EP 3436392 B1 EP3436392 B1 EP 3436392B1 EP 17715659 A EP17715659 A EP 17715659A EP 3436392 B1 EP3436392 B1 EP 3436392B1
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EP
European Patent Office
Prior art keywords
arm
spring
torque
gas
hydro
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP17715659.3A
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English (en)
French (fr)
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EP3436392B8 (de
EP3436392A1 (de
Inventor
Edouard Frans Alexander SCHINKEL
Michaël Hubert SCHINKEL
Eelke Gerrit DE VRIES
Bart WALGAARD
Gjalt LINDEBOOM
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Nhlo Holding BV
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Nhlo Holding BV
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Publication of EP3436392A1 publication Critical patent/EP3436392A1/de
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Publication of EP3436392B1 publication Critical patent/EP3436392B1/de
Publication of EP3436392B8 publication Critical patent/EP3436392B8/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/12—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of devices
    • B66C13/14—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of devices to load-engaging elements or motors associated therewith
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C25/00—Cranes not provided for in groups B66C17/00 - B66C23/00
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/44—Means on or in the damper for manual or non-automatic adjustment; such means combined with temperature correction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/54—Arrangements for attachment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
    • B63B2017/0072—Seaway compensators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0321—Travelling cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/06—Cranes in which the lifting movement is done with a hydraulically controlled plunger
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2222/00—Special physical effects, e.g. nature of damping effects
    • F16F2222/12—Fluid damping
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2232/00—Nature of movement
    • F16F2232/08—Linear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2234/00—Shape
    • F16F2234/02—Shape cylindrical
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2238/00—Type of springs or dampers
    • F16F2238/04—Damper

Definitions

  • the invention relates to an apparatus and a method for lifting a load, preferably a variable load.
  • the invention has a wide range of application, and particularly relates to offshore applications.
  • a further example is an access bridge from a floating object (e.g. a ship) is stabilized during movements caused by waves. Such continuous motions demand a large amount of work from the actuators. When the floating object moves, the actuator moves the access bridge, so that the (part of the) access bridge does not move from the point-of-view of the people who stands on the (part of the) access bridge.
  • Another example of an off-shore application is lifting the load into or out from the water. The heaving apparatus may be located on-shore, while compensating for floating object movements. Also outside of the off-shore field, applications are known in which, although the load may not be over 5000 kg, continuous or intermittent work is needed for heaving / lifting / suspending / pulling. In below 'carrying' will be used to refer to any lifting / heaving / suspending / pulling action.
  • the actuator requires a considerable output force to balance the load force at a plurality of positions of the arm, thus consumes a considerable amount of energy.
  • a mechanical spring is provided to balance an arm in multiple positions.
  • An example is a lamp which can be adjusted to different angles.
  • the spring force generates a substantially the same amount of counter-torque to balance the torque generated by the load, so the system does not require an active force output (such as from an actuator).
  • an active force output such as from an actuator.
  • a spring balance system is unsuitable for carrying a heavy load for two reasons.
  • the properties of mechanical springs has an limit to the load to be balanced. These springs are not capable for balance a heavy weight.
  • the spring constant of mechanical springs are fixed, so it is often difficult to adjust the system to balance different loads. This puts limits on off-shore and other relevant applications.
  • Gas or hydro-pneumatic springs are more flexible than mechanical springs, as they are more easily adjustable. These springs are also capable for providing a considerable amount of force. However, these springs are known as unsuitable for bringing balance to a plurality of positions of an arm due to its non-linear extension force relation. Thus, gas springs are not found in the relevant fields, such as in applications for balancing large loads.
  • the inventors recognized that characteristics of the gas spring in general and the disadvantage of the non-linearity of gas or hydro-pneumatic springs specifically can in fact be turned into an advantage. In embodiments a perfect balance is not necessary.
  • Embodiments use the gas or hydro-pneumatic spring in an apparatus that is configured to approximate a spring-balanced system. In embodiments the non-linearity of gas or hydro-pneumatic springs is counteracted. It turns out a gas or hydro-pneumatic spring can bring very substantial balance to a plurality of positions of an arm. In embodiments use is made of means to adjust the balancing force to another level or magnitude by changing the characteristics of the gas spring.
  • the adjustable gas or hydro-pneumatic spring is suitable for a much wider range of applications, such as in a situation where different loads need to be carried.
  • the non-linear extension force relation turns out to be suitable for a specific range of applications, such as in the situation where the load varies at different angles.
  • a first aspect of the invention relates to an apparatus according to claim 1.
  • a second aspect of the invention relates to a method according to claim 13.
  • the first arm may be a beam or rigid rod, arranged to be pivoted at the pivot point (e.g. a hinge or so-called fulcrum).
  • the pivot point may be arranged on frame, the frame being mounted on a moveable object such as a ship or a boat.
  • the first arm can be rotate over an angle.
  • a second state of the arm is a rotated state over at least 10 degrees with respect to an initial first state.
  • Embodiments of the invention relate to an arm of at least 0,5m, preferably at least 1,5m, more preferably at least 2m. In embodiments the arm is at least 2m, at least 3m or even at least 4m long.
  • the first arm can be arranged to carry a load force. It may physically carry the load, directly on the arm or through a wire, or receive the load force indirectly, such as from a second arm which physically carries the load. Multiple loads can be carried. Part of the load can come from the mass of the arm. In some cases, the arm and the load are integrated, such as a bridge to be lifted.
  • the load force is typically gravity, but may also include other types of forces.
  • Carrying the load force results in a torque.
  • the load applies a load force to the arm and contributes to a substantial part of the torque.
  • the arm itself and other factors may also generate some torques. In this applications, these torques are considered as components of the torque to be countered.
  • the torque can be clockwise or counter-clockwise.
  • the direction of the torque is defined by the force applied by the external load on the arm.
  • the counter-torque is in the opposite direction.
  • active torque refers to torques generated by the actuator and / or the gas or hydro-pneumatic spring and / or other configurable devices.
  • passive torque refers to torques generated by the mass of the arm, the load or load force, and all other relevant factors such inertia, friction, wind, rain etcetera, to be countered by the active torques or counter-torques in order to achieve balance and/or in order to move the arm.
  • the net passive torques is positive. Those net torques around the pivot point are to be countered and balanced by the net active torques.
  • the gas or hydro-pneumatic spring is arranged to applying a force on the arm, resulting in a counter-torque with respect to the pivot point.
  • the gas or hydro-pneumatic spring according to the invention has an adjustable spring characteristic, which is configured to compensate at least 50% of the torque of the load force with counter-torque in the first state and second state.
  • the gas or hydro-pneumatic spring is arranged to provide a counter torque of at least 50% of the net passive torques.
  • the spring characteristic can be adapted to compensate at least 50% of the (net passive) torque(s) along an entire movement from the first state to the second state.
  • the percentage is at least 25%. However it is preferred the percentage is at least 60%, more preferred at least 70%.
  • the apparatus may comprises a support or frame, such as a base fixed to a ship.
  • the gas or hydro-pneumatic spring is arranged to apply the spring force at a first point of application on the arm, and a second point of application on the support or frame.
  • the support or frame may also (in)directly support the pivot point of the arm.
  • the gas or hydro-pneumatic spring is arranged to apply the force at a first point of application on the arm, and a second point of application on the support or frame, wherein the pivot point, the first point of application and the second point of application define a triangle having an area correlated with the torque.
  • the counter-torque and the torque can be brought close to balance by adjusting the spring characteristic of the gas or hydro-pneumatic spring.
  • Adjusting the spring characteristic can comprise adjusting characteristics of the spring before the load is to be carried by the arm, during the application of the load to the arm, while the arm is held in the first state (so at an initial angle) or can be adjusting the characteristics of the spring during movement of the arm while carrying the load, e.g. during a movement from a first state to a second state.
  • Balance of torque and counter-torque can be achieved at one, two or multiple positions. To achieve this the spring characteristic of the gas or hydro-pneumatic spring are adjusted.
  • the area of the triangle is proportional to a trigonometric function of the angle of the arm.
  • the gas or hydro-pneumatic spring according to the invention is a configurable spring having a curved (not linear) extension-force relation, which may have a zero or non-zero free length.
  • the spring characteristic i.e. F/x
  • the counter-torque can compensate the torque in a wide range of different situations, even including the case where the load (i.e. mg) varies.
  • Embodiments of the invention allow heaving loads in and out water or just above the bottom of the seabed or on the seabed. 'Configuring' within this application is adjusting or setting a value in accordance with a calculation, procedure, protocol, algorithm etc..
  • the spring characteristics is preferably adjusted at the site, although embodiments of the invention also encompass setting the spring characteristic once or at a predetermined setting. In other words, it is not necessary that the entire method of manufacturing is carried out in a factory.
  • the adjustment of the spring characteristics may take place before each operation, or may even take place during each operation.
  • the spring control device can adjust the gas or hydro-pneumatic spring such that the counter-torque approaches the torque.
  • the spring characteristic of the gas or hydro-pneumatic spring is configured such that an approximation of a Hook's law spring force is obtained, which in turn approximates the desired counter-torque.
  • the apparatus can therefore use a much smaller actuator, which is more efficient. In some circumstances, an actuator is not needed at all.
  • the arm stays at one or both of the first position or the second position for a longer time, while transitioning between the two positions for a shorter time. In this case, it is sufficient to substantially achieve a balance at the first and second states of the apparatus.
  • the spring characteristic of the gas or hydro-pneumatic spring can be adapted to compensate at least 70%, more preferably at least 85%, of the (passive) torques in the first state and second state, so as to minimize the output of the actuator, or can even be removed.
  • the counter-torque is at most 150%, preferably at most 130%, more preferably at most 115% of the (passive) torque in the first and second state.
  • an actuator it may be provided between the arm and the support/frame for providing additional torque or counter-torque.
  • the actuator may be provided in any other direct or indirect connection to the arm, for example the actuator may be provided engaging directly on the pivot point of the arm, or engaging on a pulley connected to the arm indirectly by a wire or rope.
  • the torque supplied by actuator can be used to attain rotational equilibrium.
  • the actuator can also be used to bring unbalance into the system, which results into movement of the arm, e.g. heaving / lifting or placing / releasing.
  • a suitable control device can be connected to the actuator to control it.
  • the apparatus comprises a control device for configuring the spring characteristic of the gas or hydro-pneumatic spring.
  • the apparatus is arranged to receive inputs from a control device for configuring the spring characteristic of the gas or hydro-pneumatic spring.
  • the gas or hydro-pneumatic spring of the invention can be used to bring a substantial balance against any forces, such as an apparatus for carrying variable loads.
  • the apparatus is configured to (instantly) adjust the spring characteristics of the gas or hydro-pneumatic spring during operation of the apparatus. In this way, the apparatus can not only cope with a variable load but also performing other adjustments, such as gradually releasing the load.
  • the controller device may be integrated with the control device for the actuator.
  • the passive torques can change, e.g. by lifting a load from water.
  • the active torques are reconfigured accordingly during operation, wherein the counter-torque provided by the gas spring or hydro-pneumatic spring can increase or decrease, wherein preferably a spring characteristic of the gas spring or hydro-pneumatic spring can be adjusted and configured during operation.
  • the apparatus comprises a central control unit for calculating, using an algorithm, a balancing force to be exerted by the actuator, for example taking the following into account:
  • the invention may be used in various different applications, for example:
  • one or more points of application of the gas or hydro-pneumatic spring are adjustable.
  • Embodiments can comprise adjusting one or more points of application before the load is to be carried by the arm, during the application of the load to the arm, while the arm is held in the first state (so at an initial angle) or can be adjusting the position(s) during movement of the arm while carrying the load, e.g. during a movement from a first state to a second state.
  • one or more points of application/engagement of the actuator are adjustable.
  • Embodiments can comprise adjusting one or more points of application of the actuator before the load is to be carried by the arm, during the application of the load to the arm, while the arm is held in the first state (so at an initial angle) or can be adjusting the position(s) during movement of the arm while carrying the load, e.g. during a movement from a first state to a second state.
  • one or more characteristic of the frame including the length of the arm, the direction of the frame (not the arm) having the pivot point and one or more points of the application) are adjustable.
  • the adjustability is a result of external, non-controlled factors, such as the wind or movement of the ship on which the apparatus is mounted.
  • the fixed pole of a frame is initially parallel to the force of gravity and due to movement of the ship, e.g. as a result of waves, the pole pivots.
  • Embodiments can comprise adjusting one or more characteristics before the load is to be carried by the arm, during the application of the load to the arm, while the arm is held in the first state (so at an initial angle) or can comprise adjusting the characteristic(s) during movement of the arm while carrying the load, e.g. during a movement from a first state to a second state.
  • Fig. 1 shows an embodiment of a device or apparatus 1 according to an aspect of the invention.
  • the apparatus 1 is mounted on a fixation point or reference 90. In embodiments this can be the ground. However it is also possible to provide the apparatus on a moving reference, such as on a ship or in a moving object.
  • the apparatus 1 comprises a support or frame 8. In the embodiment shown in Fig. 1 , the support or frame 8 is fixed to the ground 90, and is positioned horizontally. These are merely for the illustration purposes. As would be understood by the skilled person, the same principle can be applied to the moving object and other directions, such as the vertical direction.
  • the support or frame 8 provides engagement points.
  • One of the engagement points constitutes a pivot point 3 for a first arm 2.
  • Another one of the engagement points 61 constitutes a point of force application for a gas or hydro-pneumatic spring 60.
  • the support or frame 8 can provide an engagement point 92 for an actuator 9. More active elements can be present.
  • the first arm 2 is pivotably connected to support or frame 8 at pivot point 3, e.g. embodied by a bearing.
  • Fig. 1 shows the first arm 2 positioned at an angle ⁇ 1 with respect to a horizontal line.
  • a load 7 provides a net load force 206 that engages the first arm 2 at the load engagement point 21.
  • the net load force 206 results in a (passive) torque around the pivot point 3.
  • the gas or hydro-pneumatic spring 60 has a second point of application 62 on the first arm 2.
  • the gas or hydro-pneumatic spring 60 is arranged as pulling device.
  • the counter-torque that provides the counter-force 201 is fully or partially supplied by a pulling force 209 of the gas or hydro-pneumatic spring 60 at point of application 62 on first arm 2. This results in a balanced system, in which the load (and the rest of the apparatus) is held in position.
  • the mass of the first arm 2 will not be considered explicitly in this application.
  • the arm is formed by the load (the arm is the bridge).
  • the torque generated by the first arm 2 is considered as a part of the torque as a result of carrying the load 7.
  • friction is ignored, although it will be clear that in case of a large friction, the balance point of the torque system is not a point, but a level.
  • the adiabatic coefficient of a gas or hydro-pneumatic spring is ignored, although it will be clear that temperature effects are relevant in practice.
  • angle, position, inclination can be used to indicate a position or state of the arm with respect to its pivot point.
  • the symbol ⁇ 1 expresses the angle opposite of the gas or hydro-pneumatic spring 60 at the pivot point 3. That is, the angle between the second 203 and third 207 virtual construction lines, which are respectively the line through the pivot point 3 and the first point of application 61, and the line through the pivot point 3 and second point of application 62.
  • the first arm 2 can rotate about the pivot point 3 by at least 10 degrees, preferably at least 15, more preferably at least 20 degrees. In an embodiment, the angle ⁇ 1 can vary between 20 and 160 degrees.
  • the symbol ⁇ 2 expresses the angle between first virtual construction line 204 (line that connects load engagement point 21 and pivot point 3) and the line 202 along the direction of both the net load force 206.
  • the arm of the load generated torque lies along a virtual construction line 204 where the load engages the arm.
  • An arbitrary reference line can be chosen that corresponds to the arm at zero inclination, typically a horizontal or vertical is chosen.
  • the inclination of the arm then expresses the angle ⁇ 1 between this fixed reference line and the first virtual the construction line 204.
  • the virtual construction lines 204 and 207 are the same line. In this case lines 203 and 202 are parallel if the angles ⁇ 1 and ⁇ 2 are equal. In preferred embodiments the center of gravity of the arm is also located on line 207 and/or 204.
  • the lines 203 and 202 are said to be effectively parallel if the angles ⁇ 1 and ⁇ 2 are equal.
  • the wording substantially parallel is used if the angles ⁇ 1 and ⁇ 2 differ by less than 15 degrees.
  • the apparatus 1 is inspired on a spring-balanced system having a spring-balanced configuration.
  • Claim 2 provides several features of such a configuration. Aspects of the invention make use of a spring-balanced configuration that is designed for an apparatus comprising an ideal spring following Hook's law. Since a gas or hydro-pneumatic spring is used, the system will not be a perfect balance at any angle, although balance can be obtained at one, two or more angles. Further the invention is not limited to a balance as a result of only the counter-torque of a spring.
  • the invention covers devices and methods in which at least 50% (preferably at least 60%, more preferably at least 70%) of the counter-torque is provided by a spring.
  • the apparatus 1 has a configuration that approximates a spring-balanced situation.
  • the first point of application 62 is arranged on the first virtual construction line 204 between the load engagement point 21 and the pivot point 3, such that the virtual construction lines 204 and 207 are identical.
  • a counter-torque provided by the spring is dependent on the area of the triangle ⁇ ABC defined by the pivot point 3 and the two points of application 61 and 62.
  • ⁇ is the angle between the direction of the pulling force 209 and the first virtual construction line 204.
  • the above-mentioned linear force extension rule does not apply, as the value of k is not a constant.
  • substantial balance can be achieved with a gas or hydro-pneumatic spring.
  • the required pressure to stabilize the load force in a state between the first and the second state of the arm is calculated.
  • the gas volume is calculated (for the state in between the first and the second state of the arm) that exactly balances the load force in between the first and the second state and substantially balances the arm in the first and the second state.
  • the formula neglects other aspects according to the invention such as the desire or requirement to slightly under or over balance a load force in different states of the arm, the possibility to exactly balance the load in two states of the arm and to substantially balance the arm in a plurality of positions of the arm, and relevant factors such as the adiabatic coefficient.
  • FIG. 4 An example of the comparison with the theoretical ideal spring is shown in Fig. 4 .
  • the straight line in Fig. 4 represents the force-to-elongation relationship of the theoretical ideal spring with a linear spring characteristic, and the curved line in Fig. 4 represents the progressive spring characteristics of the gas spring.
  • the straight line representing the force of the ideal spring is equivalent to the line of the force required cancel the load generated torque.
  • intersections of the progressive spring characteristic and the straight line indicate an inclinations of the arm at which the (passive/net) torque and the (active/net) counter-torque are balanced, i.e. the counter-torque compensates substantially 100% of the torque.
  • an additional (counter-)torque is desired on top of the torque produced by gas or hydro-pneumatic spring 60 equal to the opposite or the residual torque.
  • the residual torque may be ignored. In other conditions it may be delivered by an actuator connected to the arm directly or indirectly.
  • An actuator can provide such residual torque.
  • the actuator can introduce a torque resulting in an unbalance, which will result in moving(heaving) the arm.
  • the residual torque is minimized in different optimizations, by choosing the properties of the balancing system 1 and in particular the configuration of the gas or hydro-pneumatic spring 60, according to the specific application.
  • the properties of the balancing device can be chosen such that the residual torque is always positive or always negative, so that the force required by the actuator for delivering the residual torque is in one direction only.
  • the pivot point 3 can be moved in a direction parallel to the (load) force.
  • the load force 206 generates a normal force on the pivot point 3, which in turn generates friction, which makes it difficult for the pivot point to move.
  • the normal force is substantially zero, so the friction is minimum. This allows the pivot point to be moved using a minimum force, and allows the pivot point 3 to move even during operation of the apparatus.
  • a drive can move the pivot point.
  • the drive is controllable by a central control system.
  • the position of the first point of application on the arm can also be adjusted.
  • the distance between the first point of application and pivoting point can be varied.
  • the first point of application can be configured along a line that crosses the pivot point.
  • the system comprises a sliding configuration (e.g. a slit), that guides the first point of application along a predetermined line.
  • a drive can move the first point of application.
  • the drive is controllable by a central control system.
  • the second point of application 61 on support or frame 8 can be adjusted.
  • the distance between second point of application 61 and pivoting point 3 can be varied.
  • the second point of application 61 can be configured along a line that crosses the pivot point 3.
  • the system comprises a sliding configuration (e.g. comprising a slit), that guides the second point of application 61 along a predetermined direction.
  • a drive can move the second point of application 61.
  • the drive is controllable by a central control system.
  • the first arm 2 comprises a telescopic arrangement, e.g. comprising a guide for an extendable arm part along a direction 204.
  • a drive can move the extendable arm part; preferably that drive is controllable by a central control system.
  • the apparatus can compensate for counter-torque differences at different angles as a result of the non-ideal gas-spring, without changing the spring characteristic in operation.
  • the load 7 is suspended by a wire 76 over a rotating wheel 77.
  • the rotating wheel is at infinite distance.
  • the direction of the load force will not be horizontal at all inclinations, resulting in ⁇ 1 ⁇ 2 .
  • the gravitational force of the load 7 is directed to the right.
  • Other kinds of loads and other ways of directing the load to the arm fall within the scope of the invention.
  • the actuator 9 can be configured to provide additional torque, such that the actuator torque and gas or hydro-pneumatic spring 60 torque add up to provide the desired counter-torque to balance the apparatus.
  • the actuator 9 can be configured to provide additional torque such that the total torque provided by the gas or hydro-pneumatic spring 60 and actuator 9 adds up to differ slightly from the desired counter-torque. This results in an unbalanced apparatus, resulting in load 7 being moved. As a result the load 7 can be heaved and moved, e.g. as part of a lifting device. To stop the movement, the actuator can be configured to provide a force that results in the counter-torque being balanced with the load generated torque.
  • the apparatus 1 allows for a plurality of inclinations of the first arm 2 where the net torque on the arm is zero or close to zero.
  • the components of the net torque are provided by the load 7 and at least one gas or hydro-pneumatic spring 60.
  • Further (active) sources of torque that fall within the scope of the invention are, without limitation, any number of actuators 9 and forces due to friction.
  • the present invention is applicable to a situation in which the load 7 may vary.
  • the apparatus 1 may be used to carry different loads at different times.
  • the same load varies during heaving (e.g. moving into or out from water).
  • the points of engagement or applications are adjusted to configure the torque and counter-torque.
  • characteristics of the apparatus such as the length of the arm and the distance of the load force to the pivot points, is adjusted. Apparatus characteristics include the virtual constructions lines of the apparatus. Any of such adjustments is illustrated below with reference to the configuration of the gas spring or hydro-pneumatic spring. However it will be understood that other variables of the apparatus can be adjusted similarly, including a configuration unit to adjust the variable as desired, e.g. by calculation.
  • the invention utilizes the ability of configuring the spring characteristic to cope with these situations.
  • control device 64 for adjusting the spring characteristic.
  • the control device 64 may be either permanently or temporarily connected to the apparatus 1. When connected, the amount of oil and/or the amount of gas in the volume of the gas and/or the size of the gas volume can be adjusted and configured by the control device, for example by supplying gas into the spring.
  • the system provides for hydraulic adjustment, most preferably during a heaving or releasing operation.
  • the amount of pressure fluid in the hydraulic volume of the hydro-pneumatic spring is changed.
  • both the (average) pressure in the gas volume and the (average) spring rate of the gas spring is altered (averages pressure and average spring rate as a result of a predefined movement of the piston causing a displacement of the gas ⁇ V).
  • hydraulic adjustment changes the total gas volume with respect to ⁇ V, while maintaining the amount of gas in the gas volume equal.
  • pneumatic adjustment is provided.
  • adjusting the amount of gas in the gas volume results in a change in the (average) pressure in the gas volume and the (average) spring rate. Analysis has shown this method of adjustment is relatively slow and has some other minor deficits with respect to hydraulic adjustment.
  • FIG. 1 For embodiments and methods of the invention, provide pneumatic adjustment of the gas or hydro-pneumatic spring 60 by changing the volume.
  • the (average) pressure in the gas volume is not changed, it only changes the (average) spring rate at a predefined ⁇ V.
  • Adjusting the gas volume will in general not result in a change in the magnitude of the compensation force 201.
  • this method of adjustment can be preferred in certain situations such as placing a load on the seabed.
  • the gas spring 60 is embodied as extension or pulling spring. In other embodiments the gas spring 60 is embodied as compression spring arranged as a pulling gas or hydro-pneumatic spring 60.
  • the apparatus 1 is a hoisting device that substantially balances a mass with a certain weight during a first movement. During another operation a mass with another weight is hoisted in a second movement. Also a hoisting device that substantially balances the mass can be required to pickup or place the mass carefully (with low impact forces). This can be obtained by gradually adjusting the device.
  • the actuator 9 and/or the gas or hydro-pneumatic spring 60 or the points of application 61,62 or position of the pivot point 3, or the length of first arm 2 are controlled such that a situation of (over)balancing the mass is obtained, which results in the load 7 being lifted from a ground surface. To release the load 7, the system 1 is controlled to slowly underbalancing the load.
  • a simplified embodiment showing the adjustment process includes the apparatus 1 moving along a predefined operating range (around the arm pivot 3) resulting in ⁇ V of the piston.
  • the objective of the adjustment is to change the constant force substantially to another magnitude or level, substantially balancing another mass or over or underbalancing the same mass, at the same, predefined operating range of the arm system.
  • the spring characteristic is configured such that in two states, a first state and a second state with the arm at an angle at least 10 degrees different, at least 50% of the counter-torque is provided by the gas spring or hydro-pneumatic spring.
  • Figs. 2a-c show a different embodiment, where lines 204 and 207 differ, and thus where lines 202 and 203 are not parallel. In effect however, since the angles ⁇ 1 and ⁇ 2 agree, the construction is equivalent to a construction in which the lines are parallel, as indicated by the dashed outline in figure 2a . As such lines 202 and 203 in figure 2a are said to be effectively parallel. In this embodiment point of application 62 is on first arm 2, albeit arm 2 is not straight.
  • the gas or hydro-pneumatic spring 60 can be mounted such that the second point of application 62 lies between the pivot point 3 and the load engagement point 21, as shown in Fig. 1 . It can also be mounted in such a way that the pivot point 3 lies between the second point of application 62 and the load engagement point 21, as shown in Figure 2c . In either case care should be taken that the device is configured such that a pulling force of the device results in a lifting force on the load.
  • the load 7, the gas or hydro-pneumatic spring 60 and/or the actuator 9 are directly connected to first arm 2. In other embodiments at least one of the load 7, the gas or hydro-pneumatic spring 60 and/or the actuator 9 are indirectly engaging the first arm 2 and/or the reference 90/ support or frame 8.
  • a wire 76 can connect load 7 to first arm 2, changing the direction of the applied force.
  • at least one flexible member / chain / wire / rope 76 and at least one pulley 76 connects the load/gas or hydro-pneumatic spring 60 or actuator 9 to the first arm 2.
  • the load 7 might rest on first arm 2 ( Fig. 2a ), hang from the arm ( Fig. 2b ) or be part of the arm ( Fig. 2c ).
  • the (virtual) line 203 is neither parallel nor effectively parallel to (virtual) line 202. This can be the case, in the example of Fig. 1 , when wheel 77 is not at infinite distance of the load engagement point 21In such embodiments the trigonometric relations are still valid. The non-parallelism introduces a phase in the relationships.
  • a situation where lines 202 and 203 are not effectively parallel can also be realized accidentally as a consequence of normal operation procedure (e.g. by pitching or rolling motions of a ship on which the apparatus 1 is positioned).
  • the failure of maintaining effective parallelism throughout the operation procedure can be resolved in different ways, one of which is illustrated by the embodiment of Fig. 3 .
  • the apparatus contains a secondary arm 4 that is pivotably connected to first arm 2 in the point 21 and pivotably connected at a point 22 to the support or frame 8 in such a way that it can slide along the support frame parallel to the line 203.
  • a load 7 is connected to the arm 4 through a cable 76 over a pulley system 77. The load engages the first arm 2 indirectly, through the cable 76 and arm 4, at the load engagement point 21 in such a way that the indirect load force 206 and the compensation force 206 are along a line 202 that is parallel to line 203.
  • the non-parallel between the lines can be realized by design in two ways: with a constant phase ⁇ 0 and a variable phase ⁇ 3 which varies as the arm moves from the first state to the second state.
  • a constant phase ⁇ 0 can be realized by positioning the second point of application translated by a certain angle to line 202 without positioning the first point of application translated over the same angle.
  • the area of the triangle is proportional to the following formula: sin ⁇ 2 + ⁇ 0 , wherein ⁇ 0 is a non-zero phase term such as a non-zero constant.
  • variable non-parallel case can be realized by engaging the load force on the arm through a pulley or wheel located at a non-infinite distance of the arm.
  • the area of the triangle is substantially proportional to the following formula: m ⁇ g ⁇ L ⁇ cos ⁇ 3 + tan ⁇ 2 ⁇ sin ⁇ 3
  • ⁇ 3 is dependent on ⁇ 1 .
  • the introduction of one or both of these phase terms allows the force extension curve of the gas or hydro-pneumatic spring (e.g. as shown in Fig. 4 ) to achieve a better balance.
  • the torque is proportional to sin ⁇ 2 .
  • the counter-torque may optionally also be correlated to a fixed phase term ⁇ 0 and a variable phase term, which terms in effect counteract the non-linearity of the gas or hydro-pneumatic spring, resulting in an even better balance. It is not possible to use a linear force extension (as in the case of ideal spring) to balance the torque and counter-torque. Instead, a non-linear force extension which does not comply the Hook's law is needed, and the gas or hydro-pneumatic spring turns out to be a suitable tool to provide substantial balance even with such a non-linear force extension.
  • Fig. 5 shows, very schematically, a ship 999 in water 1002 above the sea bottom 1003.
  • a rigid base structure 1001 was put in place in the sea bottom 1003.
  • a wind turbine 1000 of at least 1000 Kg is supported by first arm 2 that is pivotably connected to support 90.
  • the arm + wind turbine result in a torque.
  • a significant part of the counter-torque is provided by a gas or hydro-pneumatic spring 90.
  • an actuator 9 is there to balance the lifting and / or to move the arm with respect to the ship 999.
  • the apparatus of the invention can be on-shore, while the load is to be lifted or put on an off-shore vessel.
  • Embodiments of the invention include one or more features of embodiments disclosed in WO2007/034096 . Any of the disclosed features can be combined with any of the features of WO2007/034096 .
  • the direction of the load force is correlated to the state of the arm, preferably by exerting the load force on the arm through a pulley 77 located at a distance of the arm so that ⁇ 2 is correlated to state of the arm and the direction of the load force, so that ⁇ 1 and ⁇ 2 are not equal at different states of the arm, wherein preferably the difference between ⁇ 1 and ⁇ 2, ⁇ 3 is a phase within a range between -15 degree and 15 degree, and wherein preferably the phase ⁇ 3 is a non-zero variable.
  • ⁇ 1 is an angle between the first arm (2) and the effective virtual line between the pivot point (3) and the second point of application (61) and wherein ⁇ 2 is an angle between the first arm (2) and the load force and wherein ⁇ 1 and ⁇ 2 are substantially equal in any state of the arm
  • ⁇ 1 is an angle between the first arm (2) and the effective virtual line between the pivot point (3) and the second point of application (61) and wherein ⁇ 2 is an angle between the first arm (2) and the load force and wherein the difference between ⁇ 1 and ⁇ 2 substantially is within +/-30 degrees in any state of the arm.

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Claims (15)

  1. Einrichtung, die umfasst:
    - einen ersten Arm (2), der angeordnet ist, um um einen Schwenkpunkt (3) herum von einem ersten Zustand in einen zweiten Zustand um wenigstens 10 Grad zu rotieren, wobei der erste Arm (2) angeordnet ist, um eine Belastungskraft zu tragen, woraus sich ein Drehmoment ergibt, das von der Belastung und dem ersten Arm (2) hinsichtlich des Schwenkpunktes (3) abhängt, dadurch gekennzeichnet, dass es ferner umfasst:
    - eine Gasfeder oder eine hydropneumatische Feder (60), die angeordnet ist, um eine Kraft auf den Arm (2) auszuüben, woraus sich ein Gegendrehmoment hinsichtlich des Schwenkpunktes (3) ergibt, und
    - einen Stellantrieb (9) zum Bereitstellen eines zusätzlichen Drehmoments oder Gegendrehmoments,
    wobei die Gasfeder oder die hydropneumatische Feder einstellbare Federkennlinien aufweist und wobei die Gasfeder oder die hydropneumatische Feder konfiguriert ist, um wenigstens 50 % des Drehmoments mit dem Gegendrehmoment in dem ersten Zustand und in dem zweiten Zustand zu kompensieren.
  2. Einrichtung nach Anspruch 1, wobei die Einrichtung eine Stütze oder einen Rahmen umfasst, die/der den Schwenkpunkt (3) stützt, wobei bevorzugt (und in beliebiger Kombination):
    - die Stütze oder der Rahmen, direkt oder indirekt, einen Angriffspunkt der Gasfeder oder der hydropneumatischen Feder und einen Angriffspunkt des Stellantriebs stützt,
    - der Arm, der Schwenkpunkt, die Stütze/der Rahmen und die Gasfeder oder die hydropneumatische Feder in einem System angeordnet sind, das eine Federausgleichskonfiguration aufweist; und/oder
    - der erste Arm (2) angeordnet ist, um um einen Schwenkpunkt (3) herum von einem ersten Zustand in einen anderen Zustand um wenigstens 15, bevorzugt wenigstens 20, stärker bevorzugt wenigstens 25, noch stärker bevorzugt wenigstens 30 und am stärksten bevorzugt wenigstens 40 Grad zu rotieren; und/oder
    - die Gas- oder hydropneumatische Feder konfiguriert ist, um wenigstens 60 %, bevorzugt wenigstens 70 %, stärker bevorzugt wenigstens 75 % und noch stärker bevorzugt wenigstens 80 % des Drehmoments mit dem Gegendrehmoment in dem ersten Zustand und in dem zweiten Zustand zu kompensieren; und/oder
    - eine beliebige Kombination von Winkel und Prozentsatz, die oben genannt wurden; und/oder
    - die Gasfeder oder hydropneumatische Feder als eine Zugvorrichtung angeordnet ist, die direkt oder indirekt mit dem ersten Arm (2) verbunden ist; und/oder
    - die Gas- oder hydropneumatische Feder angeordnet ist, um die Kraft an einem ersten Angriffspunkt (62) auf den ersten Arm (2) und einem zweiten Angriffspunkt (61) auf die Stütze oder den Rahmen (8) auszuüben, die/der einen ersten Winkel (ψ1) gegenüber der Gasfeder oder der hydropneumatischen Feder an dem Schwenkpunkt (3) aufweist, wobei ein zweiter Winkel (ψ2) zwischen der Belastungskraft und dem Schwenkpunkt (3) an einem Belastungskraftangriffspunkt (21) definiert ist, wobei der erste und der zweite Winkel sich um höchstens 30 Grad unterscheiden, bevorzugt höchstens 20 Grad, stärker bevorzugt höchstens 15 Grad und sich noch stärker bevorzugt um höchstens 10 Grad unterscheiden.
  3. Einrichtung nach Anspruch 1 oder 2, die ferner eine Stütze oder einen Rahmen (8) umfasst, wobei die Gas- oder hydropneumatische Feder angeordnet ist, um die Kraft an einem ersten Angriffspunkt (62) auf den ersten Arm (2) und einem zweiten Angriffspunkt (61) auf die Stütze oder den Rahmen (8) auszuüben, wobei der Schwenkpunkt (3), der erste Angriffspunkt (62) und der zweite Angriffspunkt (61) ein Dreieck definieren, das eine Fläche aufweist, die mit dem Drehmoment und/oder dem Gegendrehmoment korreliert, wobei die Fläche bevorzugt zu dem Drehmoment und/oder dem Gegendrehmoment im Wesentlichen proportional ist.
  4. Einrichtung nach Anspruch 3, wobei
    - ein Winkel ψ zwischen einer wirksamen virtuellen Leitung durch den Schwenkpunkt und den zweiten Angriffspunkt (61) und der Richtung der Belastungskraft an dem ersten und zweiten Zustand des Arms zwischen +/-30 Grad liegt; und/oder
    - der erste Angriffspunkt sich im Wesentlichen auf einer wirksamen virtuellen Leitung zwischen dem Armschwenkgelenk, dem Angriffspunkt der Belastungskraft auf den Arm befindet und wobei ein Schwerpunkt des ersten Arms bevorzugt ebenso auf der wirksamen virtuellen Leitung liegt.
  5. Einrichtung nach Anspruch 3 oder 4, wobei
    - die Fläche des Dreiecks zu der folgenden Formel proportional ist:
    sin (ψ2 + ψ0), wobei ψ2 ein Winkel zwischen dem ersten Arm (2) und der Belastungskraft ist und ψ0 eine Phase innerhalb eines Bereichs zwischen -15 Grad und 15 Grad ist, wobei die Phase ψ0 bevorzugt eine Konstante ungleich Null ist.
  6. Einrichtung nach einem der vorhergehenden Ansprüche, wobei die Federkennlinie der Gas- oder hydropneumatischen Feder angepasst ist, um wenigstens 70 %, stärker bevorzugt wenigstens 90 % des Drehmoments in dem ersten Zustand und zweiten Zustand zu kompensieren, wobei die Federkennlinie bevorzugt angepasst ist, um höchstens 130 %, stärker bevorzugt höchstens 110 % der Drehmomente in dem ersten und zweiten Zustand zu kompensieren.
  7. Einrichtung nach einem der vorhergehenden Ansprüche, wobei die Gasfeder oder die hydropneumatische Feder konfiguriert ist, um ein Gegenmoment bereitzustellen, das mit den Drehmomenten des Arms und der Belastung ausgeglichen ist, wobei der Stellantrieb in dem ersten Zustand und stärker bevorzugt ebenso in dem zweiten Zustand ein Nulldrehmoment bereitstellt.
  8. Einrichtung nach einem der vorhergehenden Ansprüche, wobei die Einrichtung eine Steuervorrichtung zum Konfigurieren der Federkennlinie der Gas- oder hydropneumatischen Feder (60) umfasst oder angeordnet ist, um Eingaben von einer Steuervorrichtung zu empfangen, wobei die Steuervorrichtung bevorzugt eine Benutzerschnittstelle zum Empfangen einer Eingabe aufweist, die sich auf den Betrag der Belastungskraft bezieht, wobei die Einrichtung (1) stärker bevorzugt konfiguriert ist, um die Federkennlinien der Gas- oder hydropneumatischen Feder während eines Betriebs einzustellen.
  9. Einrichtung nach einem der vorhergehenden Ansprüche, wobei eine oder mehrere Positionen von Angriffspunkten des Stellantriebs und/oder der Gasfeder einstellbar sind und wobei eine Steuervorrichtung angeordnet ist, um die Position eines oder mehrerer Angriffspunkte zu konfigurieren.
  10. Einrichtung nach einem der vorhergehenden Ansprüche, wobei die Einrichtung (1) ferner eine zentrale Steuereinheit zum Berechnen, unter Verwendung eines Algorithmus, einer Ausgleichskraft umfasst, die durch den Stellantrieb (9) in Abhängigkeit von der Federkennlinie der Gas- oder hydropneumatischen Feder auszuüben ist.
  11. Einrichtung nach einem der vorhergehenden Ansprüche, wobei der erste Arm (2) eine Teleskopanordnung zum Ändern eines Abstands der Belastungskraft zu dem Schwenkpunkt (3) umfasst, wobei eine Steuervorrichtung bevorzugt angeordnet ist, um den Abstand zwischen der Belastungskraft auf dem ersten Arm (2) und dem Schwenkpunkt (3) zu konfigurieren; und/oder
    wobei die Einrichtung ferner einen zweiten Arm (4) umfasst, der mit dem ersten Arm (2) an einem Scharnier verbunden ist, wobei sich das Scharnier entlang einer zuvor bestimmten Richtung bewegt, wenn sich der zweite Arm (4) bewegt, wobei der zweite Arm bevorzugt angeordnet ist, um eine Belastungskraft (7) physikalisch zu tragen und die Belastungskraft auf den ersten Arm zu übertragen, und wobei die Belastungskraft stärker bevorzugt durch eine Riemenscheibe oder einen Kolben auf den zweiten Arm übertragen wird.
  12. Einrichtung nach einem der vorhergehenden Ansprüche, wobei ein Gasvolumen, eine Oberfläche des Kolbens (65), ein Abstand zwischen dem Schwenkpunkt (3) und dem ersten Angriffspunkt (62) und ein Abstand zwischen dem Schwenkpunkt (3) und dem zweiten Angriffspunkt (61) korrelieren.
  13. Verfahren zum Konfigurieren einer Einrichtung zum Bewegen einer Belastung oder Aufrechterhalten einer Position einer Belastung, wobei das Verfahren umfasst:
    - Bereitstellen einer Stütze oder eines Rahmens (8), die/der einen Schwenkpunkt (3) und einen ersten Arm (2) aufweist, der um den Schwenkpunkt (3) um wenigstens 10 Grad rotieren kann, dadurch gekennzeichnet, dass das Verfahren umfasst:
    - Bereitstellen einer Gas- oder hydropneumatischen Feder zum Ausüben einer Kraft an einem ersten Angriffspunkt (62) auf den ersten Arm (2) und an einem zweiten Angriffspunkt (61) auf die Stütze oder den Rahmen (8);
    - Bereitstellen eines Stellantriebs (9) zum Bereitstellen eines zusätzlichen Drehmoments oder Gegendrehmoments.
    - Bereitstellen einer Belastungskraft auf den ersten Arm und
    - Konfigurieren der Federkennlinien der Gas- oder hydropneumatischen Feder, um ein Gegendrehmoment von wenigstens 50 % des Drehmoments bereitzustellen, das durch die Belastungskraft an einem ersten Winkel und an einem zweiten Winkel bereitgestellt wird, der sich um wenigstens 10 Grad von dem ersten Winkel unterscheidet.
  14. Verfahren nach Anspruch 13, das ferner ein Einstellen der Federkennlinie der Gas- oder hydropneumatischen Feder und/oder das Einstellen einer oder mehrerer Angriffspositionen während des Betriebs umfasst.
  15. Verfahren nach Anspruch 13 oder 14, das ferner das Berechnen, unter Verwendung eines Algorithmus, einer Ausgleichskraft umfasst, die durch den Stellantrieb (9) in Abhängigkeit von der Federkennlinie der Gas- oder hydropneumatischen Feder auszuüben ist.
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WO2020175949A1 (ko) * 2019-02-28 2020-09-03 한국기술교육대학교 산학협력단 중력 보상 어셈블리 및 이를 포함하는 로봇의 허리 구조체
NL2028189B1 (en) * 2021-05-11 2022-11-29 Itrec Bv Offloading an object from a heave motion compensated carrier of a vessel.
CN114060333A (zh) * 2021-12-15 2022-02-18 上海振华重工(集团)股份有限公司 一种主被动运动补偿栈桥变幅系统及其栈桥
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EP3436392A1 (de) 2019-02-06
WO2017167962A1 (en) 2017-10-05

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